1^ - » • 1^ , ' • "* '"^^ %/ .•«^'- %.^" '^^' ^^/ •^'". "-^.^' '-' 0' 'oK '^o^ %.A^ /,^fe-. %/ .';^S&'- %<** ='^'-' %.^^ -' 0^ e' • BULLETIN UNIVERSITY OF WASHINGTON ENGINEERING EXPERIMENT STATION E'^TGINEEIRING EXPERIMENT STATION SERIES BUEEETIN No. 13 TENSIONS IN TRACK CABLES AND LOGGING SKYLINES The Catenary Loaded at One Point BY Samuel Herbert Anderson k Assistant Professor of Physics SEATTLE. WASHINGTON PUBLISHED QUARTERLY BY THE UNIVERSITY June, 1921 Entered as second class matter, at Seattle, under the Act of July 16. 1894. CORRIGENDA. Page 7, equation {22) V(S + So)" ^- C"' — (S + So) (Vs-o + C- --So) (22) Page 8, equation (23) : — V So rC XX So X X y + V So-^c-| = ( e'~-^e^) -| ( e^— e^) 2 2 (23) Page 10, equation {38) : — 3^0 .XX So X X y + yo = — (e~ +"e^) + — (e<="— e~) 2 2 (38) Page 15, equation {55) -y=— (yo— So)(e^— 1) (55) LIBRARY OF CONGRESS OOCHMCNTS DIVISION - -■ -■— ..-^.i -.-. , p- ■ , ,.., 1 TENSIONS IN TRACK CABLES AND LOGGING SKYLINES The Catenary Loaded at One Point INTRODUCTION Two problems of the catenar>^, viz., the common catenary and the parabohc catenary, are generally treated in texts on Mechanics. A third problem, that of a catenary loaded at one point, is equally important, but either is not discussed at all or given a sketchy treat- ment that is far from satisfactory. This type of catenary is of con- siderable practical importance, as a conveying cableway or a cable tramway closely approximates in form to this curve. In the West- ern States such devices are much used in mining and logging opera- tions for transporting loads from higher to lower levels by gravity. In this paper the equations of the catenary loaded at one point will be derived and the properties of such a catenary discussed. It will also be shown how the tensions may be computed and what the condition is for maximum tension. It will be assumed that (1) the cable is perfectly flexible and (2) the load is fixed at one point, neither of which assumptions agree with practice. The cables in use are generally steel, sometimes two inches or more in diameter and very stiff in short lengths. However, when they are used in lengths of 2000 to 3000 feet and the vertical deflections are small compared to the length, the relative stiffness is negligible, and hence, the first assumption a legitimate one. As the load travels along, the conformation of the cable is constantly changing and likewise the tensions. But by assuming a fixed position of the load, it is possible to obtain the properties of the catenary for an instantaneous position of the load, from which the condition for maximum tension in the cable may be determined. To start with, it is assumed that the load is at any point, so that the treatment is general- Tensions in Track Cables and EIG. 1 Logging Skylines Derivation of the Equation of the Catenary Loaded at One Point. Let OAB, figure I, represent a heavy, flexible cord or cable, fastened at A and B and supporting a known load W at O. Assume B to be at a higher horizontal level than A. At O there w^ill be three forces in equilibrium: (1) the weight, (2) the tension in the part of the cable OA which will be called T' and (3) the tension in OB which will be called T". Let 'and " be the angles that T' and T" respectively make with the horizontal. By Lame's theorem we have W T' T" sin[180°— ((/>'+<^")] sin(90°+") sin(90°+') W T' T" = = (1) sm((f>'-\-ct>") cos^" cos' Solving for W W=T'sin'tan<^" • (2) and W=T"tan(/,'cos" (3) Resolving the forces vertically and horizontally, respectively, ve have W=T'sinc/.'+T"sinc^" (4) and T'cos' + T"sinc^"+Thtanc/>'+Thtan" (7) It is evident that in form the cable is divided into two parts the point of division being at O, where the load is hung. From a mathematical consideration, this is a point of discontinuity which means that in passing from one portion of the cable to the other the change in the properties of the catenaiy with respect to the length is very abrupt at this point. It will be necessary, then, to consider the two parts separately and derive the equations for each part. 6 Tensions in Track Cables and We will consider first the arc OB. Let P be any point of this arc, and let T be the tension at this point making an angle i// with the horizontal. The arc OP is in equilibrium under three forces : (1) the tension at O, which with respect to P is opposite and equal to T" of figure 1 ; (2) the weight of the cable between O and P acting at the center of gravity of OP; (3) the tension T at P. If s be the length of the cable from O to P measured along this arc and w the weight per unit length, then the second force is ws. Resolving these three forces vertically, we have Tsini/'=ws-[-T"sin" (9) Dividing equation (8) by (9) we have , dy ws tani/' = — = • \-tan4>" (10) dx T, This is the differential equation of the curve OB which is the con- formation the cable assumes under the action of the three forces. The solution of this gives the desired analytical equation. It is evident that in equation (10) w, Th, and tan" are all con- stants for a given cable, a given load and fixed position of that load. We will write for these three constants Tn c = - (11) and So=c tane|= (e'-+eO=— (e>— eO (23) 2 2 By substracting- (21) from (22) we get a symmetrical expres- sion for s. V So ~t~C I X X So X X s+So = (e"^— e~) + — (e^+ e^) (24) 2 2 Equation (23) is the equation of the curve OB in rectangular co-ordinates, and (24) gives the length of the arc measured from O in terms of the abscissa and the constants So and c. These equations represent a general case of the catenary of which the common catenary is a special case. This may be seen from the following consideration. Suppose that tan<^" = 0, which could be attained by removal of the load W or by shifting to such a point that the arc OB became horizontal at O. Then by (12) So = and equations (23) and (24) reduce to ^ X X y + c = — (e^+~e^) ' (25) 2 and c X _^ s = — (e^ — e^ (26) 2 which are the well known equations of the common catenary. In order to interpret the constants So and Vso^+c^l of equations (23) and (24) let us assume that the curve OB is extended to the left of O to a point C where the tangent is horizontal. This is rep- resented in figure 1 by the broken line curve CO. Let the weight per unit length of the ima"^inary cable be the same for the arc OB, and let the horizontal tension be Tu. Call the co-ordinates of 0> referred to C, p and q. The arc CO will be in equilibrium under three forces, Tn, the weight of the cable wr where r is the length of the arc CO, and the tension T" at O. Resolving these forces hori- zontally and vertically we have the following relations : Th=T"cos<^" (27) and T"sin<^"=wr (28) Dividing equation (28) by (27) we obtain dq r tanc/>" = — =— (29) dp c Logging Skyunes This is the differential equation of the arc CO, and is of the same form as that of the common catenary, so that the solution may be immeditely written. Vr=+c^'— c (30) p= clog^ V (31) ) i c Since the curve COB is continuous the equations for any point referred to C as the origin will be of the same form as (30) and (31). Let x', y' be the co-ordinates of any point referred to C- Then y'=V(s+r)^ + c^' — c (32) f(s + r) + V(s + r)^ + c^'^ x' = c log^ ■ y (33) I c J where (s+r) is the length of the arc measured from C. Now let us transform the last two equations by the following relationship, y'=x+p y'=y+q and substituting values of p and q from (30) and (31). y=V(s+r)^+c=' - c + Vr' + c^^ + c (34) r(s + r) + V(s + r)^+c^' ^ I r — Vr^ + c^' ^ ^=\og\ y (35) c L r — Vr^ + c^ Equations (34) and (35) must be identical with (17) and (20) respectively, since in both cases x, y are the co-ordinates of any point of the arc OB referred to O as an origin. Hence r = So That is, the constant So of equations (17) and (18) is the length of the fictitious arc CO. This means that the curve OB is a portion of a common catenary, the lowest point of zvhich is a distance So from O measured along the curve. While OB is the only part of this catenary that represents the conformation of a part of the cable, nevertheless, the part of the catenary CO has a physical in- terpretation which will be given later. 10 Tensions in Track Cables and From a consideration of equations (17), (34), and (30) it is evident that Vso' + e' = Vr^ + c='=q + c (37) In the common catenary c is the distance from the lowest point to a horizontal line which may be called the directrix. Hence Vso^+c^' is the distance of O from this same directrix. We will call this yo. Making this substitution in equations (23) and (24) we get yo XX So X X y + vo = — (e"^ + e~) + — (e^— 'e~) (38) 2 2 yo X X So X X s + So = — ("e^ — e~) H (e~ +'e) (39) 2 2 Substituting the hyperbolic functions for exponential, these equa- tions become X X y + yo = yo cosh )- So sinh — (40) c c X X s + So = yosinh 1- So cosh — (41) c c These equations involve three constants, c, So, and yo, the last of which is dependent upon the other two. yo=Vso^+c-^' ' (42) All three are quantities of the fictitious arc CO ; c being the parame- ter, So the length of the arc, and yo the ordinate of the terminal point O measured from the directrix. By assigning different values to c, So, and yo (40) and (41) become the equations of a family of curves which represent the conformation the cable will take under various loads and horizontal tensions. In the same manner we may obtain equations of the arc OA which is the conformation assumed by the part of the cable to the left of the load W. The differential equation is, dy ws — = htanc/>' (43) dx T, which differs from (10) in that x and s are taken to left of O and fp' replaces cf>". Hence the analytical equations of the arc OA will be Logging Skylines 11 the same as (40) and (41) except the constants So and yo will have different values. The constant. c is the same for the two curves, since it depends upon the horizontal tension and the weight of the cable per unit length, which are the same for all parts of. the cable. Hereafter when Soiand yoi are used in equations (40) and (41) they apply to the arc OA to the left of the origin and hence the values assigned to s and x are negative only ; and when Soo and yoo are used the above equations apply to the arc OB to the right of the origin and the values assigned to s and x are positive only. Since the constant c is the same for both arcs it is evident that OA and OB are arcs of the same common catenary having the parameter c. If in figure 1 the cui"ve DOA were shifted to the left and slightly up- ward until the point D coincided with C, AODCOB would form a continuous curve which is the common catenary from which OA and OB are taken to form the discontinuous curve AOB. The length of the arc DO is the constant Soi of the curve OA and the length of COO is the constant So2 of the curve OB. II. Determination of the Tensions. Arbitrarily we have set Th = wc (11) and found that c is a perameter of both curves OB and OA. The vertical components of the tensions T' and T" at O may be obtained by combining equations (5), (11) and (12). T'sin<^'=wSoi (44) T"sin<^"=wSo2 (45) Hence the vertical component of the tension in OA at O is equal to the weight of the fictitious arc OD ; and likewise, the tension in OB at is equal to the weight of OC. If these expressions for the vertical components of the tensions are substituted in equation (4), an expression is obtained giving the relation between the load W, the weight per unit length of the cable, and the fictitious arcs. W=w(so,+So,) ' (46) This shows that the constants Soi and Soo ai'e dependent upon the nature of the cable and the load. 12 Tensions in Track Cabi^es and T'==wV e + So,^' =wyo, (47) T" = wVc^ + So/'=vvyo, . (48) The vertical component of the tension at any point in the curve OB is given by equation (8). Combining this with (45) we get T2sin,/^2=w(s+Soo) (49) And in hke manner we have for any point in the curve OA T'sin,/.,=w(s+SoO (50) Now (s+Soo) is the length of the arc COP measured from the lowest point of the fictitious arc OC, and hence the vertical compo- nent of the tension in the cable at any point is w times the length of the arc of the common catenary of zvhich OB or OA is a part. By combining (11) with (50) and (49) respectively we obtain the total tension at any point in OA or OB respectively. T,=w(y+yo,) (51) T,=w(y+yo,) (52) Hence the total tension at any point is w times the verticle distance of that point above the directrix of the common catenary. Equations (11), (44), (45), (47), (48), (49), (50), (51) and (52) give completely the tension in the cable. In every case the tension depends upon the weight per unit length, w, and one of the three constants, c, So, or yo. If these tensions are known, the constants can then be determined and by the aid of equations (40) and (41) the position of the cable determined. And conversely, if the constants can be determined from the data available and eouations (40) and (41), the tension for any point in the cable can be found. Equations (51) and (52) show that for a given load and given position of that load the tension in either part of the cable is great- est at the point where (y+yo) is a maximum, that is, at the point of fastening at the end of the cable. So that in future considerations of the effect of the load and of the position of the load the ten- sions at the ends only need be taken account of. At which of the two ends the tension is the greater depends upon the position of the load. If in equations (51) and (52) y^ is the verticle height of the lower end above the position of the load and y^ that of the upper end, y^ will be greater than Vj for any position of the load Page 12, insert before equation {47), The tensions T' and T" can be expressed in terms of w, c, So, and yo. Combining (11) with (44) and (45) respectively we have, FIG. 2 14 Tensions in Track Cabi^es and along the cable, but yo2 will be considerably less than yo^ when the load is near the lower end and hence T, will be less that T^. But for the load near the middle of the span and any place between the middle and the higher end To will be greater than T^. (See fig- ure 2). In practice, information is wanted regarding the tensions in various parts of the cable for a certain load and different positions of that load, or more specifically, the maximum load the cable will carry. To answer the latter question equation (46) must be used which involves the constants s and Sq. It is desirable, then, to ex- press s in terms of other quantities on which it depends. This may be done by eliminating yo between equations (40) and (41). Writ- ing these in the following form X X y — Sosinh — = 3^0 (cosh — — 1) (40) c c X X s + So ( 1 — cosh—) = yosinh— (41 ) c c and dividing the first by the second we get. X y sinh c s So 2 cosh X - -1 2 c which may be simplified to y s So = — coth(/) — 2 2 (53) 2 2 where X ^ = — (54) 2c If Xj, yi are the coordinates of one end of the cable (the lower) referred to the position of the load as origin, s^ is the length of the portion of the cable extending from the load to the end, i.e., OA of figure 1. But the value of s^ depends upon the parameter c. An infinite number of catenaries may be drawn thru the points A and O, and the particular one which represents the conformation of the cable is determined by the value of c taken. In an unloaded Logging Skylines I5 cable the value of c depends alone upon the horizontal tension which may be made anything desirable. In the loaded cable c may be computed from the value of the horizontal tension, but this lat- ter depends in part upon the load which is placed on the cable. A relationship between x, y, s and c, which is independent of the other constants Sq and yo, may be obtained which is of considerable use. Subtracting ecjuation (38) from (39) we get X s-y=-(yo-So)(e^-l) (55) and by adding X s+y=(yo+so)(e"-l) (56) On multiplying (55) by (56) and substituting c-=y^ — s% we have X X S2 y2=r=:c^(e'' 2-|-e'') ^vhich may also be expressed in terms of the hyperbolic function, X Vs^ — y-|=2c sinh — (57) 2c This may be thrown into a more useful form by substituting from equation (54). sinh (/> Vs^ — y^|=x (58) By this last equation the length of the cable between the load and terminal point may be quickly found for any value of c. To faciil- tate computation, it is desirable to have a curve in which sinh is 1> plotted as ordinates against c^ as abscissas. Such a curve is given in figure 3. In the next section it will be shown how these computa- tions may be made. Another equation giving s in terms of x, y, and c may be obtain- ed by eliminating So between equations (40) and (41). x s = y + 2yotanh— (59) 2c 16 Tensions in Track Cables and III Practical Solution of the Problem. In sections I and II equations have been derived giving the relations among all the factors involved in stresses due to loading. But when an actual computation is undertaken, it is generally found that not sufficient data is available. Perhaps this may be best illustrated by taking a numerical problem, which was presented to the writer by a logging company. It is typical of those the engi- neers encounters. It is required to know the maximum load a cable will carry when used as a logging "sky-line" under the following conditions : 1. Breaking strength — 112 tons. 2. Weight of cable— 5.38 Ibs./linear ft. 3. Horizontal span — 2500 ft. 4. Vertical height of upper end above lower (tail spar tree above head spar tree) — 625 ft. 5. Factor of safety — 3.5. The maximum tension allowable is 112X2000 = 64,000 lbs. 3.5 Calling this To and substituting in ecjuation (52) we find 64,000 y, + y^, = = 1 1 ,896 ft. 5.38 This may be used in equation (40) for finding So2, but before any computation is possible values of x, y, s and c are necessary. Since the value of Tg used above is the maximum that the cable is to stand, the value of x to be used should be the horizontal distance of the load from the upper end zvhere the tension is the greatest. In other words, before we can proceed further it is required to know the condition of maximum tension in the cable for a given load. So far no general method of treating this phase of the problem has been found, but it has been determined for a special case, which will be taken up in detail. Logging Skylines 17 FIG. 3 18 Te;nsions in Track Cables and The first step necessary in this calculation is the assumption of some value of the parameter c. A common usuage* is to take the horizontal tension equal to one-fourth of the breaking strength of the cable, and the "deflection" of the cable when the maximum gross load is at the center to be one-twentieth of the span. By "de- flection" here is meant the vertical distance of the loaded point of the cable below the lower fixed end of the cable. Following thse two specifications we may find values of c, x and y. From equation (11) Th 112X2000 = 10,409 w 4 X 5.38 One-twentieth of the span is 125 feet, so that y2=7S0 ft. X2=1250 ft. r.y equation (54) we find 1250 2X10409 .06004 sinh (f) From figure 3 =1.0012. Substituting these values of x,, ya, and sinh cj> in equation (58) we find S3=1458 ft. To find S] the same procedure is followed. Xi=1250 ft. yi=125 ft. sinh (/.= 1.0012 The value of sinh is the same for the two parts of the cable only for the middle of the span where x^^^Xo. This greatly simplifies calculations. It is found that Si=1257 ft. * Mark's Handbook of Mechanical Engineering, page 1160. Logging Skyunes 19 The length of cable required for this span of 2500 feet is then 5^+82=2715 ft. We may now compute Soi and So2, using equation (53). s„,=414 ft. s„2=5524 ft. The load which satisfies the above conditions if found by equation (46). W=5.38(414+5524)=31,946 lbs. To find the tensions at the two ends the constants yoi and joo must be found, using equation (42). yo,=10,419. yo2=l 1,784. Then by equations (51) and (52) the tensions are computed. T,=5.38(10,419+125)=56,726 lbs. T2=5.38(ll,784+750)=68,203 lbs. Perhaps attention should be called to the fact that in this calculation no use has been made of the factor of safety specified above. Arbitrarily a horizontal tension was chosen equal to one- fourth the breaking strength, and this gave a value for the con- stant c upon which is based the calculation of the load and tensions as just given above. The factor of safety comes out 3.29 instead of 3.5. It is apparent that, in using the horizontal tension recom- m.ended in Mark's Handbook, too small a factor of safety is pro- vided for. Reference will be made to this discrepancy later. In order that we may know where the load produces the great- est tension, the computation must be made for several different positions of the load in the same manner as above. In carrying out this computation one of three proceedures must be followed : (1). We may assume the exact position of the load measured horizontally and vertically from one end, and the hori- zontal tension of the cable as was used above. (2). We may take the length of the cable fixed (say, the length found above for the load at the middle, 2715 feet), and assume the horizontal tension the same, one- fourth of the breaking strength. 20 Tensions in Track Cabi^es and ^ 5\ 30 (0 3^ 3) ■^ o IV) 14 OB :5 Tension InTons ^ __ ^ - — ?< M r -^ C/J ^^ ^ / x'^ *- / y A / in / / > Ov / / / vj / / n / VO o — •^ < ■ L Uj > i ^ 0) _ 3 3 \ \ \ \ \ L \ \ \ \, \ \ ^ \ \ s». 3 \ V \ X N V --^v N3 P- ro (^ N ^ \ > EIG. 4 Logging Skylines 21 (3). We may take the length of the cable fixed, and assume the load the same as we found above for the middle point of the span. Of these three proceedures the first is the easiest, but of no value, because the length of the cable found in this manner will be different for each position of the load. In practice the length of the cable is generally constant while the load is being transported. (Although in some logging operations the cable is let down, given a big sag, in picking up the load). The third method will give the most useful result, but is the most difficult to carry out. In fact, it was found impossible to make this calculation until, by the second proceedure, the tensions and positions of the load had been found for a number of points. The exact proceedure by the second method is as follows : (1). Assume a value of c, say 10,409. (2). Assume certain values of x^ and y-^, which seem to be reasonable according to one's best judgment. (3). By equation (58) compute s^. (4). By the same equation compute s,, using the same value of c, and values of Xo and y,, which may be found by the following relations, Xi-)-X2==horizontal span. y2 — yi=^verticle height of higher end above lower. (5). The sum of s^ and s, so found should be the length of cable 2715 feet. If it does not, new values of x^ and yi must be assumed and the same proceedure gone thru with again. It is thus seen that this method is one of "trial and error" which involves a vast amount of work. The computations were carried out for seven positions or points in the span and the results plotted in the curves of figure 4. Abscissas for all the curves are values of x^, i.e., the horizontal distance of the load from the lower end support. In curve L the ordinates show the load necessary at any point in order that the horizontal tension may be constant, 56,000 lbs., giving a constant value of c of 10,409. T^ shows the total tension in the cable at the lower end fastening, and T, the total tension at the upper end for any position of the load. 22 TivNSioNS IN Track Cables and o KJ K) !^ Co 9» 1 o w (A u t^ Tens ion in To ns K> \ -H w ^ ?^ ^ s ^ O (/I ^' o o r o p- 3 3 ft. ft l/> o -n -4 ^ N, ^ \^ ^ C/> V N \ \ \ ^ o \ \ N N ^ \ \ \ CD \ \ \ \ v6 \ \ \ o ^ — N \ ' ' \ N> / I (1 04 J/ / / 4^ /^ 7 / 01 >^ y / r — (> ^ ^ / -J ■ ^ ^r / (S> ^ ^ / /■ (4) The constant Soi and Soo may now be computed by y s So^ — coth(/> ■ (53) 2 2 (5) The load is given by W=w(So,+So2) (46) (6) The constants y^ and yoo may be found by yo=Vc^+s^o' (42) (7) The tension at each end, T^ and To, respectively, may be computed by T=w(y+yo) (51) (52) using y^ and yoj for T^, and y, and yoo for To. Since yo is taken greater than y^. To is the greater tension and the maximum for any position of the load. Altho the computations required by the outline above are some- what longer than those called for by the approximate formulas given in handbooks, they are by no means laborious, and have the advantage of giving exactly the load zvhicJi may be carried and the maximum tension involved. SUMMARY. (a). When a cable is loaded at one point, the conformation which the cable assumes is that of two arcs of the same common catenary, with the point of intersection at point of loading. (b). The eciuations of these two arcs have been derived. They involve three constants or parameters : ( 1 ) c, which is the parameter of the common catenary, of which the two arcs are part, and which depends implicitly upon the horizontal tension and linear density of the cable; (2) So, which is ec|ual to the length of an arc of the common catenary extending from the lowest point of the common catenary to the point of intersection (the loaded point) of the two arcs which represent the actual conformation of the cable, and which may be called the "fictitious arc" and depends upon the load and the linear density of the cable; (3) y,,, which is dependent upon the other two parameters, and is the vertical dis- tance of the loaded point above the directrix of the common catenary. (c). Expressions for the horizontal tension, vertical tension and total tension at any point in the cable have been derived. (d). It has been shown that in either one of the arcs the point of maximum tension is the highest point, i.e., the point of fastening at the end, and that in most cases the higher end of the c.?ble has the greater tension. (e). It has been shown for a special case that the maximum tension occurs in the cable when the load is at the center of the span, and that the point of maximum tension is the higher end of the cable. Furthermore, it has been shown that very probably the maximum tension ahvays occurs, in a catenary loaded at one point, when the load is at the center of the span. (f). A method of computing exactly the load and tensions in a given track cable has been outlined in section IV. To the logging engineer this will probably prove the most interesting and useful part of the paper. 73 78 5 ' t 1. ^"^^. * w •$>-. »^ ^oV^ \ "^ 6" o_ * >p-^^ Q_ * f-^^ V '% %^^*° ^/'\ '"^yWs ^^^\ ^'^^S J'\ ^^ ••♦ '^o ,0- .0 n^ . < • o